Post on 19-Aug-2021
AC
Servo Motor &
D2 D
rive Technical Information
Technical Information
Subsidiaries & R&D Centers
HIWIN Schweiz GmbHJONA, SWITZERLANDwww.hiwin.chinfo@hiwin.ch
HIWIN FRANCEECHAUFFOUR, FRANCEwww.hiwin.frinfo@hiwin.fr
HIWIN s.r.o.BRNO, CZECH REPUBLICwww.hiwin.czinfo@hiwin.cz
HIWIN SINGAPORESINGAPOREwww.hiwin.sginfo@hiwin.sg
HIWIN KOREASUWON, KOREAwww.hiwin.krinfo@hiwin.kr
HIWIN CHINASUZHOU, CHINAwww.hiwin.cninfo@hiwin.cn
Mega-Fabs Motion System, Ltd.HAIFA, ISRAELwww.mega-fabs.cominfo@mega-fabs.com
HIWIN GmbHOFFENBURG, GERMANYwww.hiwin.dewww.hiwin.euinfo@hiwin.de
HIWIN JAPANKOBE‧TOKYO‧NAGOYA‧NAGANO‧TOHOKU‧HOKURIKU‧HIROSHIMA‧KUMAMOTO‧FUKUOKA, JAPANwww.hiwin.co.jpinfo@hiwin.co.jp
HIWIN USACHICAGO‧SILICON VALLEY, U.S.A. www.hiwin.cominfo@hiwin.com
HIWIN SrlBRUGHERIO, ITALYwww.hiwin.itinfo@hiwin.it
©2017 FORM MD99TE06-1704(PRINTED IN TAIWAN)
The specifications in this catalog are subject to change without notification.
HIWIN MIKROSYSTEM CORP.No.6, Jingke Central Rd., Taichung Precision Machinery Park, Taichung 40852, TaiwanTel: +886-4-23550110Fax: +886-4-23550123www.hiwinmikro.twbusiness@hiwinmikro.tw
AC Servo Motor & D2 Drive
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. For your protection; To avoid counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2. Actual products may be different from the specifications and photos in this catalog, The differences in appearances or specifications may be caused by, among other things, product improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade Act" and relevant regulations. Any export of restricted products should be approved by competent authorities in accordance with relevant laws, and shall not be used to manufacture or develop nuclear, biochemical, missile and other military weapons.
Publication Date:June 2008, first edition
Print Date:April 2017, 6th edition
AC Servo Motor & D2 Drive Technical Information
Copyright © HIWIN Mikrosystem Corp.
INDUSTRIE 4.0 Best Partner
Linear Motor StageAutomated transport / AOI application / Precision / Semiconductor• Iron-core Linear Motor • Coreless Linear Motor• Linear Shaft Motor LMT • Planar Servo Motor • Air Bearing Platform• X-Y Stage • Gantry Systems
Linear MotorMachine tool / Touch panel industry / Semiconductor industry /Laser manufacturing machine / Glass cutting machine• Ironcore linear motor-LMFA series,
LMSA series, LMSC series• Ironless linear motor-LMC series,
LMT series
Torque Motor (Direct Drive Motor)Inspection / Testing equipment / Machine tools / Robot• Rotary Tables-TMS,TMY,TMN• TMRW Series• TMRI Series
AC Servo Motor & DriveSemiconductor / Packaging machine /SMT / Food industry / LCD• Drives-D1, D1-N, D2 • Motors-50W~2000W
Linear ActuatorHospital bed / Automatic window / Home care facility / Riveting / Press-fitting / Surface checks / Bending• Servo Actuator-LAA series• LAM series• LAI series• LAS series• LAN series• LAC series
Positioning Measurement SystemCutting machines / Traditional gantry milling machines / Programmable drilling machines• High Resolution• Signal Translator• High-precision Enclosed• High Efficiency Counter
Multi Axis RobotPick-and-place / Assembly / Array and packaging / Semiconductor / Electro-Optical industry / Automotive industry / Food industry• Articulated Robot• Delta Robot• SCARA Robot• Wafer Robot• Electric Gripper • Integrated Electric Gripper• Rotary Joint
Single Axis RobotPrecision / Semiconductor /Medical / FPD• KK, SK• KS, KA • KU, KE, KC
Medical EquipmentHospital / Rehabilitation centers /Nursing homes• Robotic Gait Training System• Hygiene System• Robotic Endoscope Holder
BallscrewPrecision Ground / Rolled• Super S series• Super T series• Mini Roller• Ecological & Economical
lubrication Module E2• Rotating Nut (R1)• Energy-Saving & Thermal-
Controlling (C1)• Heavy Load Series (RD) • Ball Spline
Linear GuidewayAutomation / Semiconductor / Medical• Ball Type--HG, EG, WE, MG, CG• Quiet Type--QH, QE, QW, QR• Other--RG, E2, PG, SE, RC
1. Features ....................................................................................................................... 2
2. Safety certification ................................................................................................ 7
3. Model descriptions ................................................................................................ 8
4. Interface directions ............................................................................................ 12
5. Part numbers and options ............................................................................ 14
7. Servo Motor
10. Servo motor selection guide
9. HIWIN single axis robot and motor adaptor flange ........................ 60
8. Cable and connector
7.1 Motor specifications and application environment ......... 417.2 Low Inertia, Small Capacity .............................................. 437.3 Middle Inertia, Small Capacity .......................................... 477.4 Middle Inertia, Middle Capacity ......................................... 51
10.1 Introduction of motor selection relevant parameters .....6210.2 General inertia calculation for various rigid objects of uniform composition ......................................................6310.3 Equivalent inertia calculation for mechanism .................6410.4 Operating pattern / motion velocity profile ......................6510.5 Motor selection sample - ballscrews mechanism ..........66
8.1 Cable ................................................................................... 538.2 Connector ........................................................................... 57
6. Servo Drive
6.1 Servo drive with standard interface.................................. 286.2 Wiring diagram .................................................................. 306.3 Control circuit .................................................................... 326.4 Dimensions of drive ........................................................... 346.5 Drive peripheral kits .......................................................... 38
AC Servo Motor & Drive / D2 series
With High-tech control technology,HIWIN AC Servo motors achieve a great cost-performance ratio for a complete motor drive solution.
Contents
11. Motor / Drive Requirements List ................................................................ 69
12. Safety precautions ............................................................................................... 70
MD99TE06-1704 AC Servo Motor & D2 Drive2 3
1. Features
Excellent performance
Excellently high speed responseWith the help of a semiconductor high-end motion control algorithm and advanced common gain concept, a high speed response is achieved, satisfying all motion control needs.
Vibration Suppression FeatureThe D2 drive can remove vibration frequency that occurs during movement.
It reduces vibrations caused by system’s structure and improves the machine’s production efficiency.
High acceleration responsesUsing advanced controller design tools, and space vector current control technology, high level servo performance is achieved.
AC servo motor speed can change from -3000 to +3000 rpms in as little as 0.006 seconds. Electronic gear ratio and Encoder Emulator
The drive can help users adjust pulse resolution for the host controller, and to work with a variety of position encoders with different resolutions; it can also adjust analog position encoder output resolution to the host controller and meet the pulse receiving capability of different host controllers.
Built-in accuracy improvement featureThe D2 drive includes features to improve total positioning accuracy of the mechanical system.
The table size can be up to 5000 points. It is implemented in all control modes to optimize system behavior.
sec sec
D1N-SNN01C
Speed Response > 1200Hz
0.02 0.04 0.06
0.006 sec
0.08 0.1 0.120
D1N-SNN02B
精 1.7向重 性: 1.2
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000Target (mm)Renishaw Analysis - Linear
45
40
35
30
25
20
15
10
5
0
0 500 1000 1500 2000Target (mm)Renishaw Analysis - Linear
D1N-SNN03B
精 1.4向重 性: 0.8
Without accuracy improvement feature With accuracy improvement feature
D2-LPN01A
Without vibration suppression feature
With vibration suppression feature
D2 Drive
HostController
1 um
ElectronicGear
EncoderEmulator
Encoder
1 umD2-CNN01A
input circuitAccuracy : 51.7Bi-Dir Rep. : 1.2
Accuracy : 1.4Bi-Dir Rep. : 0.8
Erro
r
Erro
r
MD99TE06-1704 AC Servo Motor & D2 Drive4 5
D1N-SNN08A
D1N-SNN09B
D1N-SNN10B
D1N-SNN11B
D1N-SNN12A
Simple Operation Complete tool sets
Simple setupAuto phase center
Accuracy enhancement functionTo improve on the positioning accuracy of motion systems, the drive amplifier is featured with an error compensation function. By taking the measurements from a laser interferometer, the positioning error table can be built inside the drive, so that high positioning accuracy is achieved.
Frequency analysis toolsA powerful and easy to use tool for frequency analysis is provided. You can use the frequency analysis tools to display the real response in the form of a graph. You can easily set the best gain value for the system based on the real response, even first time users can easily get started.
Advanced gain scheduling featureAfter setting gains through frequency analysis tools, there is only one value to adjust: the common gain. The drive provides a gain scheduling function. You can adjust the gain according to different phases of motion, such as moving phase, settling phase, and in-position phase.
Variety of I / O functionsTo support a number of different functions, you are free to configure the I/O pin functionality and adapt different hardware interface needs. This satisfies diverse requirements for different motion controllers with regards to their pin assignments and hardware interfaces.
Analysis ToolsTo solve a resonance problem, the drive offers a filter design tool for improving the control performance, a Fast Fourier Transform (FFT) and other mathematical operation tools. You can use the functions to calculate the resonant frequency of the system easily, and to make the filter design more accurate.
Easy OperationParameters are categorized according to features. Only necessary parameters are shown. No confusing parameter list.
LCD DisplayNo need to connect to a PC to complete all of the settings and operations.
LCD display provides instant status monitoring and displays error messages. Gain and test running can be quickly set by panel keys.
HIWIN Motors
AC servo
LinearLMCLMFA
1 2 3
Three Steps
HIWIN Motors
AC servo
LinearLMCLMFA
1 2 3
Three Steps
D2-SNN01A
Selection Initialization
Adjustment
Real-time scope, accuracy enhancement function, frequency analysis tools , gain scheduling tool, analysis tool, I/O setting functions, encoder output ratio adjustment function, Z phase signal width adjustment function, PDL , ZeroTune function and filter.
D2-SNN01B
D1N-SNN05A
Test running
Parameter setting
Fine-tune
D1N-SNN08A
D1N-SNN09B
D1N-SNN10B
D1N-SNN11B
D1N-SNN12A
D1N-SNN08A
D1N-SNN09B
D1N-SNN10B
D1N-SNN11B
D1N-SNN12A
D1N-SNN08A
D1N-SNN09B
D1N-SNN10B
D1N-SNN11B
D1N-SNN12A
MD99TE06-1704 AC Servo Motor & D2 Drive6 7
D2-SNN04A
D2-SNN05A
PDL (Process Description Language) Easy-use process description language is provided.
Complex motions can be designated via PDL, such as extrusion process, point-to-point motion, fixed speed control, homing process and so on. PDL gains the advantages of flexibility and programmability. For quick learning, a number of sample programs are provided in the PDL manual.
ZeroTune functionServo loop gains can be easily set without complex procedures via ZeroTune.
Only by selecting the load level of the motor, will stable velocity response be achieved. Even a beginner who has no knowledge of servo control can easily drive a motor.
FilterDrive supports two sets of bi-quad filters.
According to filter parameters, the bi-quad filters can be transformed into different filter types, such as low-pass filter, notch filter, ..., etc. Through well-defined filters, stage vibration can be easily suppressed, and control accuracy can be significantly increased.
2.1 RoHS compliant Components and finished product all meet RoHS(Restriction of Hazardous Substances Regulation) requirements which ensure the compliance to relevant laws of quality of goods.
2.2 Comply with CE & UL regulations
A complete solution with positioning module, motor and driveIn addition to providing motor and drive, a variety of linear positioning modules are provided. We provide customers with integrated services and a total solution.
High-speed network communications interfaceThe D2 is equipped with Industrial Ethernet communications (EtherCAT) interface, and also supports CoE (CANopen over EtherCAT) servo drive protocol. For of multi-axis control, it provides simple wiring, low cost, noise immunity, remote and distributed control needs.
Simple and robust commnunication interfaceEquipped with Modbus communication, D-series drives support Modbus over serial lines (Modbus RTU and Modbus ASCII). On the application of automation, the motor position and velocity can be easily shown on the HMI via Modbus.
Easy integration
2. Safety Certification
RoHSRoHS regulations limit six hazardous substances are:
Lead (Pb), mercury (Hg), hexavalent chromium (Cr6 +),
Polybrominated Biphenyls (PBB), the maximum allowable
content of Polybrominated diphenyl ethers (PBDE) is 0.1%
(1000ppm), Cadmium (Cd) is 0.01% (100ppm).
EMC: EN61800-3 EN55011 EN61000-6-2 EN61000-6-4 EN61000-2-4 IEC60146-1-1 IEC61000-2-1
LVDS:EN61800-5-1
UL:E348161(D2T 100W/400W/1000W)
CE Directives EMC Directives
Drive Motor
UL Directives
Low-VoltageDirectives
EN55011EN61000-6-2EN61000-6-4
EN60034-1EN60034-5
UL1004-1UL1004-6
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
20
10
0
-20
-30
-40
-10
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
1 10 100
20
10
0
-20
-30
-40
-10
1 10 100
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
20
10
0
-20
-30
-40
-10
1.5
1
0.5
-0.5
-1
-1.5
00 0.2 0.4 0.6 0.8 1
1 10 100
20
10
0
-20
-30
-40
-10
1 10 100
D2-SNN04A
D2-SNN05A
MD99TE06-1704 AC Servo Motor & D2 Drive8 9
(1) 13bit only supports FRLS05/10/20/40,FRMS75,FRMM1K(2) FRLS 05/10 For the motor with oil seal,please contact Sales Representative
3. Model Descriptions3.1 Servo drive
3.2 Servo motor
Code 1 2 2a 3 4 5 6 7 8 9 10 11 12
Example D 2 T - 0 4 2 3 - S - B 0
Code 1 2 3 4 5 6 7 8 9 10 11 12
Example F R L S 4 0 2 0 6 0 6 A
Product
HIWIN servo drive D2 ........... = D2
Type
17bit encoder only ............................... = T13bit encoder only ............................... = Blank
Rated output
100W .........................................................................= 01400W .........................................................................= 041000W .......................................................................= 102000W .......................................................................= 20
Voltage range
1/3 phase 110/220VAC (For A,B,C frame) ..................................= 233 phase 220VAC (Only for D frame) ............................................= 32
Interface
Standard .....................................................................................................= SEtherCAT(CoE) ...........................................................................................= EEtherCAT(mega-ulink) ...............................................................................= FStandard with extension I/O modules ........................................................= KModbus .......................................................................................................= T
Frame size
A frame(suggestion: 100W rated output) ................................................................... = AB frame(suggestion: 400W rated output) ................................................................... = BC frame(suggestion: 1000W rated output) ................................................................. = CD frame(suggestion: 2000W rated output) ................................................................. = D
Encoder type
13bit less-wire incremental encoder ....................................................................................... = 017bit serial incermental encoder(HIWIN17) ........................................................................... = 4Dual Loop (Full closed loop) and 17bit serial absolute encoder .............................................. = 5
Product
HIWIN AC servo motor series ........... = FR
Type
Low inertia, small capacity(50W~400W) ...............= LSMedium inertia, small capacity(50W/100W/400W/750W) ..........................................................= MSMedium inertia, medium capacity(1000W/2000W) = MM
Output Power
50W ................................................................................ = 05100W .............................................................................. = 10200W .............................................................................. = 20400W(Low inertia) ......................................................... = 40400W(Medium inertia) ................................................... = 4B750W .............................................................................. = 751000W ............................................................................ = 1K2000W ............................................................................ = 2K
Drive input voltage
220V ................................................................................................ = 2
Holding brake options
Without holding brake .................................................................................= 0With holding brake ......................................................................................= B
Encoder type
13bit incremental encoder(1)................................................................................. = 517bit absolute encoder ......................................................................................... = 4HIWIN 17 incremental encoder ............................................................................ = 6
Frame size
40mm(MS 50W/100W) ......................................................................................................= 0442mm(LS 50W/100W) .......................................................................................................= A460 mm(200W/400W) .........................................................................................................= 0680 mm(750W) ...................................................................................................................= 08130 mm(1000W/2000W) ...................................................................................................= 13
Motor shaft
Round shaft / without oil seal ....................................................................................................... = ARound shaft / with oil seal(2) .......................................................................................................... = BWith key and center tap / without oil seal ..................................................................................... = CWith key and center tap / with oil seal(2) ........................................................................................ = D
Single and three phase AC voltage drive only support rated output which is lower or equal to 1000W.Note
InterfaceModel
Standard EtherCAT(CoE) EtherCAT(mega-ulink) Standard with extension I/O modules Modbus
D2(frame A-C ) O O O X OD2T(frame A-C) O O O Δ XD2T(frame D ) O O O Δ Δ
O: Available X:Unavailable Δ:Please contact with Sales Representative.
MD99TE06-1704 AC Servo Motor & D2 Drive10 11
3.3 Motor cable 3.4 Encoder cable
Code 1 2 3 4 5 6 7 8 9 10 11 12
Example H V P S 0 4 A A 0 5 M B
Code 1 2 3 4 5 6 7 8 9 10 11 12
Example H V E 1 7 I A B 0 5 M B
Type
HIWIN motor cable .......................... = HVP
Capacity
Small capacity (50W~750W) ..................................= SMedium capacity (1000W/2000W) .........................= M
Number of pin
Motor cable without holding brake .....................................= 04Motor cable with holding brake ..........................................= 06
Motor side connector
AMP connector (50W~750W) ............................................................ = AStraight waterproof connector (1000W/2000W) .............................. = BL-type waterproof connector (1000W/2000W) ................................. = C
Drive side connector
Open cable ends (50W~1000W) ...................................................................= AR-type terminals (2000W) ...........................................................................= B
Cable length
3M ...........................................................................................................................= 03M5M ...........................................................................................................................= 05M7M ...........................................................................................................................= 07M10M .........................................................................................................................= 10M
Cable type
Highly flexible ..................................................................................................................... = B
Type
HIWIN encoder cable ....................... = HVE
Encoder Type
13bit incremental encoder ...........................................= 13IHIWIN 17 incremental encoder .....................................= 17I17bit absolute encoder ..................................................= 17A
Encoder connector
AMP connector (50W~750W) ........................................................... = AStraight waterproof connector (1000W/2000W) ............................. = BL-type waterproof connector (1000W/2000W) ................................ = C
Drive side connector
SCR connector .......................................................................................... = B
Cable length
3M ...........................................................................................................................= 03M5M ...........................................................................................................................= 05M7M ...........................................................................................................................= 07M10M .........................................................................................................................= 10M
Cable type
Highly flexible .............................................................................................................................= B
MD99TE06-1704 AC Servo Motor & D2 Drive12 13
4. Interface Directions4.1 Frame A-C 4.2 Frame D
(1) Please refer to user guide
MD99TE06-1704 AC Servo Motor & D2 Drive14 15
5. Part numbers and options
Name Motor cable Encoder cable Other accessories
50W |
750W
without brake HVPS04AA HVE13IABHVE17IABHVE17AAB
Control signal cable:LMACK02D
Single phase EMC Pack:D2-EMC1 or D2-EMC3
3 phase EMC Pack:D2-EMC2
Common mode filterMF-CM-S
DC reactorB86732G15L712
with brake HVPS06AA
1000W
without brake
Straight type HVPM04BA
HVE13IBB(Straight type)HVE17IBB(Straight type)HVE17ABB(Straight type)HVE13ICB(L-type)HVE17ICB(L-type)HVE17ACB(L-type)
L-type HVPM04CA
with brake
Straight type HVPM06BA
L-type HVPM06CA
2000W
without brake
Straight type HVPM04BB
HVE17IBB(Straight type)HVE17ABB(Straight type)HVE17ICB(L-type)HVE17ACB(L-type)
L-type HVPM04CB
with brake
Straight type HVPM06BB
L-type HVPM06CB
Straight type : straight waterproof connector
L-type : waterproof connector
D1N-CNN02A
D2-PPN08A
D1N-PNN03A
D2PPN01B
-D2D2 Drive
AC Servo Motor
Singel Axis Robot
MD99TE06-1704 AC Servo Motor & D2 Drive16 17
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake13bit
incremental(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Low Inertia FRLS
single phase/ three phase
220V
50FRLS05205A4Δ
D2-0123-S-A0 Frame A Approx.0.4kVA
HVPS04AAB HVPS06AAB HVE13IABB LMACK02D
D2-EMC1
D2-EMC2
N/AFRLS052B5A4Δ
100FRLS10205A4Δ
FRLS102B5A4Δ
200FRLS2020506Δ
D2-0423-S-B0 Frame B Approx.0.9kVA RG1
FRLS202B506Δ
400FRLS4020506Δ
FRLS402B506Δ
Middle inertia FRMS 750
FRMS7520508ΔD2-1023-S-C0 Frame C Approx.
1.8kVA D2-EMC3 RG2FRMS752B508Δ
5.1 AC50W~AC750W-13bit incremental encoder
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 50W~750W
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 13bit incremental
For more information about cables, please refer to P.52-P.58
Cable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS04AA BCable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS06AA BCable length
3M ...............................=03M5M ...............................=05M7M ...............................=07M10M .............................=10M
Cable type
Highly flexible ............................. = B
HVE13IAB B
MD99TE06-1704 AC Servo Motor & D2 Drive18 19
Note5 Medium capacity motor brake power cables are packaged.
Item number HVPM06:
Contains one motor cable and brake cable labeled with HVPM04 and HVPM02.
5.2 AC1000W-13bit incremental encoder
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake13bit
incremental(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Middle inertia FRMM
single phase/ three phase
220V1000
FRMM1K20513ΔD2-1023-S-C0 Frame C Approx.
1.8kVA HVPM04AB HVPM06AB HVE13IBB LMACK02D D2-EMC3 D2-EMC2 RG2FRMM1K2B513Δ
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 13bit incremental
Motor side connector
Straight Type .......=BL-Shaped Type ....=C
Cable length
3M ......................................=03M5M ......................................=05M7M ......................................=07M10M ....................................=10M
Cable type
Highly flexible ...................................= B
HVPM04A BMotor side connector
Straight Type .......=BL-Shaped Type ....=C
Cable length
3M ......................................=03M5M ......................................=05M7M ......................................=07M10M ....................................=10M
Cable type
Highly flexible ...................................= B
HVPM06A BMotor side connector
Straight Type .......=BL-Shaped Type ....=C
Cable length
3M ......................................=03M5M ......................................=05M7M ......................................=07M10M ....................................=10M
Cable type
Highly flexible ...................................= B
HVE13IB B
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 1000W
For more information about cables, please refer to P.52-P.58
MD99TE06-1704 AC Servo Motor & D2 Drive20 21
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake17bit
incremental(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Low Inertia FRLS
single phase/ three phase
220V
50FRLS05206A4∆
D2T-0123-S-A4 Frame A Approx.0.4kVA
HVPS04AAB HVPS06AAB HVE17IABB LMACK02D
D2-EMC1
D2-EMC2
N/AFRLS052B6A4∆
100FRLS10206A4∆
FRLS102B6A4∆
200FRLS2020606∆
D2T-0423-S-B4 Frame B Approx.0.9kVA RG1
FRLS202B606∆
400FRLS4020606∆
FRLS402B606∆
Middle inertia FRMS
50FRMS0520604∆
D2T-0123-S-A4 Frame A Approx.0.4KVA
D2-EMC3 RG2
FRMS052B604∆
100FRMS1020604∆
FRMS102B604∆
400FRMS4B20606∆
D2T-0423-S-B4 Frame B Approx.0.9KVAFRMS4B2B606∆
750FRMS7520608∆
D2T-1023-S-C4 Frame C Approx.1.8KVAFRMS752B608∆
5.3 AC50W~AC750W-17bit incremental encoder
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit incremental
Cable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS04AA BCable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS06AA BCable length
3M ............................... =03M5M ............................... =05M7M ............................... =07M10M ............................. =10M
Cable type
Highly flexible ............................. = B
HVE17IAB B
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 50W~750W
For more information about cables, please refer to P.52-P.58
MD99TE06-1704 AC Servo Motor & D2 Drive22 23
5.4 AC1000W/AC2000W-17bit incremental encoder
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake17bit
incremental(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Middle inertia FRMM
single phase/ three phase
220V1000
FRMM1K20613ΔD2T-1023-S-C4 Frame C Approx.
1.8kVA HVPM04AB HVPM06AB
HVE17IBB LMACK02D D2-EMC3 D2-EMC2 RG2FRMM1K2B613Δ
three phase220V 2000
FRMM2K20613ΔD2T-2032-S-D4 Frame D Approx.
3.5kVA HVPM04BB HVPM06BBFRMM2K2B613Δ
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note5 Medium capacity motor brake power cables are packaged.
Item number HVPM06:
Contains one motor cable and brake cable labeled with HVPM04 and HVPM02.
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit incremental
Motor side connector
Straight Type .......=BL-Shaped Type ....=C
Drive side connector
Open cable ends ......... =AR-type terminals ......... =B
Cable length
3M ......................................... =03M5M ......................................... =05M7M ......................................... =07M10M ....................................... =10M
Cable type
Highly flexible ........................................ = B
HVPM04 A BMotor side connector
Straight Type .......=BL-Shaped Type ....=C
Drive side connector
Open cable ends ......... =AR-type terminals ......... =B
Cable length
3M ......................................... =03M5M ......................................... =05M7M ......................................... =07M10M ....................................... =10M
Cable type
Highly flexible ........................................ = B
HVPM06 A BMotor side connector
Straight Type .......=BL-Shaped Type ....=C
Cable length
3M ........................................=03M5M ........................................=05M7M ........................................=07M10M ......................................=10M
Cable type
Highly flexible .....................................= B
HVE17IB B
Note2 Selection of cable / 1000W, 2000W
For more information about cables, please refer to P.52-P.58
MD99TE06-1704 AC Servo Motor & D2 Drive24 25
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake17bit
absolute(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Low Inertia FRLS
single phase/ three phase
220V
50FRLS05204A4∆
D2T-0123-S-A5 Frame A Approx.0.4KVA
HVPS04AAB HVPS06AAB HVE17AABB LMACK02D
D2-EMC1
D2-EMC2
N/AFRLS052B4A4∆
100FRLS10204A4∆
FRLS102B4A4∆
200FRLS2020406∆
D2T-0423-S-B5 Frame B Approx.0.9kVA RG1
FRLS202B406∆
400FRLS4020406∆
FRLS402B406∆
Middle inertia FRMS
50FRMS0520404∆
D2T-0123-S-A5 Frame A Approx.0.4KVA
D2-EMC3 RG2
FRMS052B404∆
100FRMS1020404∆
FRMS102B404∆
400FRMS4B20406∆
D2T-0423-S-B5 Frame B Approx.0.9KVAFRMS4B2B406∆
750FRMS7520408∆
D2T-1023-S-C5 Frame C Approx.1.8KVAFRMS752B408∆
5.5 AC50W~AC750W-17bit absolute encoder
Encoder cable / 17bit absolute
Cable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS04AA BCable length
3M ................................ =03M5M ................................ =05M7M ................................ =07M10M .............................. =10M
Cable type
Highly flexible ............................. = B
HVPS06AA BCable length
3M ................................=03M5M ................................=05M7M ................................=07M10M ..............................=10M
Cable type
Highly flexible ............................. = B
HVE17AAB B
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 50W~750W
Motor cable / without brake Motor cable and brake cable / with brake
For more information about cables, please refer to P.52-P.58
MD99TE06-1704 AC Servo Motor & D2 Drive26 27
5.6 AC1000W/AC2000W-17bit absolute encoder
Motor Drive
Power capacity(Rated load)
Optional parts
Motor Series Power supply Output(W)
Part No.(Note 1)
Part No.(Standard interface) Frame
Motor cable(Note 2) Encoder cable D2 drive accessories
without brake with brake17bit
absolute(Note 2)
Control Signal Cable
Single phase
EMC Pack(Note 3)
Three phase
EMC Pack(Note 3)
External Regenerative
Resistor
Middle inertia FRMM
single phase/ three phase
220V1000
FRMM1K20413ΔD2T-1023-S-C5 Frame C Approx.
1.8kVA HVPM04AB HVPM06AB
HVE17ABB LMACK02D D2-EMC3 D2-EMC2 RG2FRMM1K2B413Δ
three phase220V 2000
FRMM2K20413ΔD2T-2032-S-D5 Frame D Approx.
3.5kVA HVPM04BB HVPM06BBFRMM2K2B413Δ
Encoder cable / 17bit absolute
Motor side connector
Straight Type .......=BL-Shaped Type ....=C
Cable length
3M ...................................... =03M5M ...................................... =05M7M ...................................... =07M10M .................................... =10M
Cable type
Highly flexible .................................... = B
HVE17AB B
Δ:Shaft End & Oil Seal Specification (Please refer to P.9)Note1
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 1000W, 2000W
Motor cable / without brake Motor cable and brake cable / with brake
Note5 Medium capacity motor brake power cables are packaged.
Item number HVPM06:
Contains one motor cable and brake cable labeled with HVPM04 and HVPM02.
For more information about cables, please refer to P.52-P.58
Motor side connector
Straight Type .......=BL-Shaped Type ....=C
Drive side connector
Open cable ends ......... =AR-type terminals ......... =B
Cable length
3M ......................................... =03M5M ......................................... =05M7M ......................................... =07M10M ....................................... =10M
Cable type
Highly flexible ........................................ = B
HVPM04 A BMotor side connector
Straight Type .......=BL-Shaped Type ....=C
Drive side connector
Open cable ends ......... =AR-type terminals ......... =B
Cable length
3M ......................................... =03M5M ......................................... =05M7M ......................................... =07M10M ....................................... =10M
Cable type
Highly flexible ........................................ = B
HVPM06 A B
MD99TE06-1704 AC Servo Motor & D2 Drive28 29
6. Servo Drive
Input power 220V
Main power
Frame A~C
Single/three-phase, 200 to 240V 50/60Hz
Frame D
Three-phase,200-240 Vac 50/60Hz
Control power
Frame A~D
Single phase, 200 to 240V 50/60Hz
Environment
TemperatureOperation Temperature: 0~45(If temperature is higher than 45, ventilation is needed)Storage Temperature: -20~65
Humidity 0 to 90%RH (no frost)
Altitude Under 1000 Meters
Vibration 1G (10 to 500Hz)
Control method IGBT PWM space vector control
Encoder feedback13bit incremental17bit incrementalDual loop (Full closed loop) and 17bit absolute
I/O signal connector
Control signalInput General purpose 9 inputs (D2T:10)
Output General purpose 4 outputs (D2T:5)
Analog signalInput 1 input (12bit A/D)
Output 2 outputs (Analog monitor-under construction)
Pulse signalInput 2 inputs (Low speed channel, High speed channel)
Output 4 outputs (Line drive: 3output, open collector: 1 output)
Brake connector Control signal Output Direct brake connection. (no need of extra relay for brake)
Also programmable for general purpose output
Communication function USB Connection with PC, 115200bps
Front panel Dot matrix 2*8 characters LCD with 4 buttonsLED(green, red)
Regenerative function
Frame A-C
Need external connection, no internal regenerative resistor
Frame D
Built in or external regenerative resistor (option), 13Ω±5%, continue power 120W, Peak power 600W
Control mode
Switching among the following modes is possible(1)Position control (2)Velocity control (3)Torque control(4)Position/Velocity control (5)Position/Torque control(6)Velocity/Torque control
Dynamic brake
Frame A-C
N/A
Frame D
Built in line resistance: 2.6 Ω ± 5%, continuous power: 120 W, peak power: 600 W
6.1 Servo drive with standard interface
Specifications
Functions
Pos
itio
n co
ntro
l
Control input
(1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map; (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Switch to secondary CG and vpg; (8)Inhibit pulse command; (9)Switch HI/LO pulse input; (10)Abort motion; (11)Switch to secondary mode; (12)Start homing; (13)Electronic gear select (DIV1/DIV2)
Control output (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed; (7)Emulated index; (8)Zero speed detected; (9)Errors
Pulse input
Max. command pulse frequency
Dedicated interface for Photo-coupler(single end input): 500kppsDedicated interface for line drive(differential input): 4Mpps(16M cnt/s with AqB)
Input pulse signal format
(1)Pulse and Direction (2)Pulse Up/Pulse Down (3)Quadrature(AqB)
Electronic gear (Division/
Multiplication of command pulse)
Gear ratio : pulses/countspulses : 1~2, 147, 483, 647counts : 1~2, 147, 483, 647
Smoothing filter Smooth factor : 1~500 (0: no smoothing filter)
Vibration suppression filter(VSF)
VSF can remove the vibration frequency that occurs during movement. It can reduce the vibration caused by the system’s structure and improve the machine’s productivity.
Velo
city
con
trol
Control input
(1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map;(4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command; (8)Switch to secondary CG and vpg; (9)Zero speed clamp; (10)Abort motion;(11)Switch to secondary mode
Control output (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed;(7)Emulated index; (8)Zero speed detected; (9)Errors
PWM input
Velocity command input
Speed command input can be provided by means of duty cycle of PWM input. Parameter are used for scale setting and command polarity.
Analog Input
Velocity command input
Speed instruction can be set with analog voltage method, parameters can set ratio and direction +/-10V
Zero speed clamp Zero speed clamp input is possible.
Torq
ue c
ontr
ol
Control input(1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map;(4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command;(8)Switch to secondary CG and vpg; (9)Switch to secondary mode
Control output (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed;(7)Emulated index; (8)Zero speed detected; (9)Errors
PWM input
Torque command input
Torque command input can be provided by means of duty cycle of PWM input. Parameter are used for scale setting and command polarity.
Analog Input
Torque command input
Torque command input can be provided by means of analog voltage.Parameter are used for scale setting and command polarity.
Speed limit function Speed limit value with parameter is possible
Com
mon
ZeroTune ZeroTune can find the porper gains by clicking one button on LCD when the motor is disable.
Emulated encoder feedback output
Set up of any value is possible (frequency up to 18M cnt/s, only frame D drive up to 9M cnt/s)
Protective function
(1)Motor short detection; (2)Over voltage; (3)Position error too big; (4)Encoder error; (5)Soft thermal threshold reached; (6)Motor maybe disconnect;(7)Amplifier over temperature; (8)Under voltage; (9)5V for encoder card fail;(10)Phase init. error; (11)Serial encoder communication error; (12)Hall sensor error; (13)Current control error; (14)Hybrid deviation too big; (15)HFLT inconsistent error; (16)Incompatible motor model for drive; (17)DC bus voltage abnormal; (18)EtherCAT interface disconnected
Error log Errors and warnings are saved in non-volatile memory
Error Mapping
Method: Established compensation table to compensate encoder error by linear interpolation
Samples: Maximum 5,000 point
Storage: Flash ROM, Disc file
Unit: count
Activation: Activated internally by home complete, or activated externally by input signal
Others Friction compensation, Backlash compensation
MD99TE06-1704 AC Servo Motor & D2 Drive30 31
6.2 Wiring diagram
Single-phase Three-phase
Recommended models: FN2090-6-06 filter
Maximum continuous operating voltage 250VAC, 50/60Hz
Operating Frequency DC to 400Hz
Rated Current 6A@40
Surge pulse protection 2kV, IEC 61000-4-5
Recommended models: FN3025L-20-71 filter
Maximum continuous operating voltage 3x520/300 VAC
Operating Frequency DC to 400Hz
Rated Current 20A@50
D2-WNT02A
ON OFF
KM
FilterNFBKM
SK
Single-phase100-240VAC
50/60Hz
Earth
L1L2L3
L1CL2C
CN1
D2 Series Drive
KM
EmergencyStop
D2-WNT03A
ON OFF
KM
FilterNFBKM
SK
Three-phase100-240VAC
50/60Hz
Earth
L1L2L3
L1CL2C
CN1
D2 Series Drive
KM
EmergencyStop
MD99TE06-1704 AC Servo Motor & D2 Drive32 33
6.3 Control circuit
Wiring Example of Position Control Mode Wiring Example of Velocity/Torque Control Mode
Additional I/O pins (Only for D2T drive)
733302927282632319
3534373639381110
444546472550
19252423
4849
2221
652431
13
COM+I1I2I3I4I5I6I7I8I9
O1+
O2+O1-
O2-O3+O3-O4+O4-SG
CWH+CWH-
CCWH+CCWH-
SGFG
CWLCWL+CWL-CCWL
CCWL+CCWL-
SG
A/AB/BZ/Z
SGCZ
4.7k
2k
CN6
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
2k
2k
2k
2k 2k
2k2k
220
220
220
220
13
Encoder_output
(1) When the host is NPN using 12,24V power with external resistors
(2) When the host is NPN using 24V power without external resistors
(3) When the host is PNP using 12,24V power with external resistors
(4) When the host is PNP using 24V power without external resistors
1
4
2
6
Vdc
2k
2k
R
R
220
220
3
4
5
6
Vdc
2k
2k
2k
2k
220
220
1
4
2
6Vdc
2k
2k
R
R
220
220
3
4
5
6Vdc
Vdc1224
Specifications of R1k ohm 1/2W2k ohm 1/2W
A-phase output
B-phase output
Z-phase output
Z-phase output(open collector)
: Twisted pair
D2-ENT17B
+
-
733302927282632319
3534373639381110
2550
1514
19252423
4849
2221
13
COM+I1I2I3I4I5I6I7I8I9
O1+
O2+O1-
O2-O3+O3-O4+O4-SG
SGFG
A/AB/BZ/Z
SGCZ
ADC0+ADC0-
4.7k
CN6
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
Encoder_output
A-phase output
Voltage Iutput (+/-10V)
: Twisted pair
D2-ENT18B
B-phase output
Z-phase output
Z-phase output(open collector)
D2-ENT19A
78
4012
COM+I10
O5+O5-
4.7k
CN6
MD99TE06-1704 AC Servo Motor & D2 Drive34 35
6.4 Dimensions of drive
Frame A (D2x-01xx-S(T)-Ax) Frame C (D2x-10xx-S(T)-Cx)
Frame D (D2x-20xx-S(T)-Dx)Frame B (D2x-04xx-S(T)-Bx)
Unit:mmUnit:mm
Unit:mmUnit:mm
D2-DNN01B
D2-DNN03B
D2-DNN52A
D2-DNN02B
7
CN1
CN2
CN7
CN5
CN6
CN4
CN3
31±0.1 180
135.5
5
44
60
(3.5)
(38) 6 2-Ø4.2
169
3.5
162±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
5
CN1
CN2
CN7
CN5
CN6
CN4
CN3
41.8±0.1180
135.5
5
52.8
60(3.5)
(46.8) 2-Ø4.2
159.5
3.5
152.5±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
6.5
CN1
CN2
CN7
CN5
CN6
CN4
CN3
28±0.1227
1.5
180
5
66
60(4)
47 4-Ø4.4
173.5
416
5.5±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
45 (39)
CN1 CHARGE STAT
CN2
CN7
CN6
CN15
CN5
CN4
CN3
78±0.2
255
209
5
5
90
60
(6)
6
3-Ø6
168
615
6±0.2
L1
L2
L3
L1C
L2C
B1
B2
B3
1
2
U
V
W
MD99TE06-1704 AC Servo Motor & D2 Drive36 37
Frame A (D2x-01xx-E(Note)-Ax) Frame C (D2x-10xx-E(Note)-Cx)
Frame D (D2x-20xx-E(Note)-Dx)Frame B (D2x-04xx-E(Note)-Bx)
Unit:mm
Unit:mm
Unit:mm
Unit:mm
D2-DNN49B
D2-DNN51B
D2-DNN53A
D2-DNN50B
Interface E/F/K/U are plug-in moduleNote
7
CN1
CN2
CN7
CN5
CN6
CN4
CN3
31±0.1 180
135.5
5
64.5
60
(3.5)
(38) 2-Ø4.2
169
3.5
162±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
5
CN1
CN2
CN7
CN5
CN6
CN4
CN3
41.8±0.1 180
135.55
72.8
60(3.5)
(46.8) 2-Ø4.2
159.5
3.5
152.5±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
6.5
CN1
CN2
CN7
CN5
CN6
CN4
CN3
28±0.1 227
181
5
86
60 1.5
(4)
47 4-Ø4.2
173.5
416
5.5±
0.1
L1L2L3
UVWR+R-
L1CL2C
+24VB+B-
RTN
45 (39)
CN1 CHARGE STAT
CN2
CN7
CN6
CN15
CN5
CN4
CN3
78±0.2
255
209
5
5
105
60
(6)
6
3-Ø6
168
615
6±0.2
L1
L2
L3
L1C
L2C
B1
B2
B3
1
2
U
V
W
MD99TE06-1704 AC Servo Motor & D2 Drive38 39
6.5 Drive peripheral kits
Connector Kit EMC Accessory Kit
Part Name Model Description Quantity
Frame A-C D2-CK3
CN1Main power, motor power, regenerative resistor and control power connector / 12pins, pitch5mm (051500400249)
1
CN2 Brake connector: 4pins, pitch 3.5mm (051500400285) 1
CN6 Control signal connector: 50 pins welded type(051500100127) 1
CN1 Connector fixture tool (051800400035) 1
CN2 Connector fixture tool (051800400066) 1
Frame D (with Modbus
interface)D2-CK4
CN1Connectors of AC power, drive control power, regenerative resistor, and DC reactor. 11 pins, TE 1-2229794-1-PT1.
1
CN2 Motor power connector. 3 pins, TE 3-22297894-1. 1
CN4 Connector kit for serial communication. TE 2040008-1. 1
CN5 Safety function connector. TE 1971153-1. 1
CN6Control signal connector. 50 pins, welded type, EUMAX XDR-10350AS.
1
CN1CN2
Connector fixture tools: TE 1981045-1. 2
Frame D D2-CK5
CN1Connectors of AC power, drive control power, regenerative resistor, and DC reactor. 11 pins, TE 1-2229794-1-PT1.
1
CN2 Motor power connector. 3 pins,TE 3-22297894-1. 1
CN5 Safety function connector. TE 1971153-1. 1
CN6Control signal connector. 50 pins welded type, EUMAX XDR-10350AS.
1
CN1CN2
Connector fixture tools: TE 1981045-1. 2
Part Name Model Description Quantity
D2 EMCaccessory
kit for single phase
D2-EMC1(051800200074)
Single phase filter FN2090-6-06 for 50W to 400W(Rated current:6A, leakage current: 0.67mA)
1
EMI core KCF-130-B 2
D2-EMC3(051800200077)
Single phase filter FN2090-10-06 for 750W and 1000W( Rated current:10A, leakage current: 0.67mA)
1
EMI magnet rings KCF-130-B 2
D2 EMCaccessory
kit for three phase
D2-EMC2(051800200075)
Three phase filter FN3025HL-20-71( Rated current:20A, leakage current:0.4mA)
1
EMI magnet rings KCF-130-B 2
D2-EMC4(051800200078)
Three phase filter B84743C0035R166( Rated current:35A, leakage current: <0.5mA)
1
EMI magnet rings KCF-130-B 2
1. The leakage current of some models’ noise filters is large. Therefore the leakage current will increase due to the ground conditions. When applying leak detectors and leakage circuit breakers, please consider on the basis of ground conditions and noise filters issues how to select. Please contact noise filter manufacturers for details.
2. The filter can be connected to more than one drive if the total maximum load current does not exceed the rated current.
EMI magnetic rings are applied on main power cables, motor power cables, encoder wires or pulse control wires respectively.
AC Servo Motor & D2 Drive 41MD99TE06-170440
Regenerative Resistor
Common Mode Filter
DC Reactor
Part Name Model Description L1 L2 W H L
Regenerative resistor
RG1
68ΩRated power 100WPeak power 500W(050100700001)
165 ± 2 150 ± 2 40 ± 0.5 40 ± 0.5 500
RG2
120ΩRated power 300WPeak power 1500W(050100700009)
215 ± 2 200 ± 2 60 ± 0.5 30 ± 0.5 500
Part Name Model Description Quantity
Common mode filter
MF-CM-S(FF000MF11002)
Common mode inductance: 1100μH (nominal) for 50W to 2000W(Voltage maximum: 373Vdc, Rated current: 11Arms)
1
Part Name Model Description Quantity
DC ReactorB86732G15L712(051800200126)
1-phase DC reactor for 2000WRated Voltage : 440VdcRated current : 14.2AInductance: 2.45mH(nominal)
1
D2-DNN04A
MotorRated output
(W)Voltage
Rated speed (No-load
maximum speed) (rpm)
Encoder IP level Application Environment
Low
Ine
rtia
FRLS
50W
220V 3000(4500) 13bit/17bit IP65
Semiconductor Equipment
Packaging Machine
SMT Machine
Food industry machine
LCD equipment
Storage condition - Indoor illumination - Keep away from following environmenta. corrosive gases b. flammable gas c. grease and dirt
Application temperature0 ° C ~ 40 ° C
Storage Temperature -15 ° C ~ 70 ° C
Humidity 80% RH or less
Storage humidity 80% RH or less
Elevation above sea level 1000m under
Vibration resistance 49m/s2 or less
100W
200W
400W
7. Servo Motor7.1 Motor specifications and application environment
D2-PPN02A
D2-PPN03A
D2-PPN04A
D2-PPN05A
MD99TE06-1704 AC Servo Motor & D2 Drive42 43
MotorRated output
(W)Voltage
Rated speed (No-load
maximum speed) (rpm)
Encoder IP level Application Environment
Mid
dle
iner
tia
FRMS
50W
220V 3000(4500)
17bit
IP65
Semiconductor Equipment
Packaging Machine
SMT Machine
Food industry machine
LCD equipment
Storage condition - Indoor illumination - Keep away from following environmenta. corrosive gases b. flammable gas c. grease and dirt
Application temperature0 ° C ~ 40 ° C
Storage Temperature -15 ° C ~ 70 ° C
Humidity 80% RH or less
Storage humidity 80% RH or less
Elevation above sea level 1000m under
Vibration resistance 49m/s2 or less
100W
400W
750W 13bit/17bit
FRMM
1000W
220V 2000(3000)
13bit/17bit
Machine Tools
Conveyor Equipment
Textile Machine
Mechanical arm
2000W 17bit
D2-PPN06A
D2-PPN07A
D2-PPN11A
Parameter Symbol Unit FRLS052A4
Drive Input Voltage V V AC220
Rated Power W W 50
Rated Torque Tc N.m 0.16
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.48
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.178
Back EMF Constant Ke Vrms / krpm 10.74
Resistance (line to line) R Ω 4.7
Inductance (line to line) L mH 4.7
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.02(0.022)
Weight (with brake) M kg 0.45(0.58)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.3
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
7.2.1 50W
7.2 Low inertia, Small capacity
Torque-Speed Curve Dimensions
D2-SNT01A
L=300mm
L=300mm23.7
14
25
2.5
Ø8h
6
PCD45
42
4-Ø3.4
Ø30-0.02-0.04
32
14
10 3 36.
2
88.5(117)註:( )內為含煞車器之尺寸
45°
45°
12
47.8
18.5
M3*8DP
21.5
(選配規格)
帶鍵
D2-DNN05C
FRLS 50W Torque-Speed Curve
Unit:mm
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
Optional Specification
With key
Torq
ue(N
-m)
Speed(rpm)
Note:( )Include Brake Size
Peak work range
Continuous work range
MD99TE06-1704 AC Servo Motor & D2 Drive44 45
Parameter Symbol Unit FRLS102A4
Drive Input Voltage V V AC220
Rated Power W W 100
Rated Torque Tc N.m 0.32
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.96
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.356
Back EMF Constant Ke Vrms / krpm 21.98
Resistance (line to line) R Ω 8
Inductance (line to line) L mH 8.45
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.036(0.038)
Weight (with brake) M kg 0.63(0.76)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.3
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
7.2.2 100W
Torque-Speed Curve Dimensions
FRLS 100W Torque-Speed Curve
D2-SNT02A
L=300mm
L=300mm23.7
14
25
2.5
Ø8h
6
PCD45
42
4-Ø3.4
Ø30-0.02-0.04
32
14
10 3 36.
2
110.5(139)
45°
45°
1247.8
18.5
M3*8DP
註:( )內為含煞車器之尺寸
21.5
(選配規格)
帶鍵
D2-DNN06C
Unit:mm
With key
Optional Specification
Torq
ue(N
-m)
Speed(rpm)
Note:( )Include Brake Size
Peak work range
Continuous work range
Parameter Symbol Unit FRLS20206
Drive Input Voltage V V AC220
Rated Power W W 200
Rated Torque Tc N.m 0.64
Rated Current Ic A(rms) 1.7
Peak Max. Torque Tp N.m 1.92
Peak Max. Current Ip A(rms) 5.1
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.38
Back EMF Constant Ke Vrms / krpm 23
Resistance (line to line) R Ω 4.3
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.17(0.21)
Weight (with brake) M kg 0.95(1.5)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 1.3
Magnetizing current Ab A 0.32A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
Torque-Speed Curve Dimensions
FRLS 200W Torque-Speed Curve
D2-SNT03A
60
PCD Ø70
Ø50 0-0.025
4-Ø5.5
45°
45°
46.5
47.8 14
18.5 L=300mm
23.7 L=300mm
Ø14
h6
30
3
7.5
2520
5
115
M4*15DP
100(133)
Ø14
h6
30
37
26
註:( )內為含煞車器之尺寸
26
D2-DNN07B
(選配規格)
帶鍵
含油封Unit:mm
7.2.3 200W
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
With seal
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
MD99TE06-1704 AC Servo Motor & D2 Drive46 47
Parameter Symbol Unit FRLS40206
Drive Input Voltage V V AC220
Rated Power W W 400
Rated Torque Tc N.m 1.27
Rated Current Ic A(rms) 2.5
Peak Max. Torque Tp N.m 3.81
Peak Max. Current Ip A(rms) 7.5
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.51
Back EMF Constant Ke Vrms / krpm 31.9
Resistance (line to line) R Ω 3.5
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.27 (0.31)
Weight (with brake) M kg 1.31(1.86)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 1.3
Magnetizing current Ab A 0.32A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
Torque-Speed Curve Dimensions
FRLS 400W Torque-Speed Curve
D2-SNT04A
60
PCD Ø70
Ø50 0-0.025
4-Ø5.5
45°
45°
46.5
47.8 14
18.5 L=300mm
23.7 L=300mm
Ø14
h6
30
2520
5
115
M4*15DP
37.5
121.5(154.5)
Ø14
h6
30
37
26
註:( )內為含煞車器之尺寸
26
(選配規格)帶鍵
含油封D2-DNN08B
Unit:mm
7.2.4 400W
Optional Specification
Note:( )Include Brake Size Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
With seal
1410 3 3
6.2M3*8DP
60
PCD Ø70
Ø50 0-0.025
4-Ø5.5
45°
45°
46.5
47.8 14
18.5 L=300mm
23.7L=300mm
Ø14
h6
30
37.5
121.5(154.5)
26
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
1410 3 3
6.2M3*8DP
2520
5
115
M4*15DP
Ø14h
6
30
37
26
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4104(134) 25
Ø8h
6
63
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
84(114) 25
Ø8h6
63
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
Parameter Symbol Unit FRMS05204
Drive Input Voltage V V AC220
Rated Power W W 50
Rated Torque Tc N.m 0.16
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.48
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.178
Back EMF Constant Ke Vrms / krpm 11.51
Resistance (line to line) R Ω 13.17
Inductance (line to line) L mH 11.75
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.025(0.027)
Weight (with brake) M kg 0.38(0.51)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.32
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 40
Release time (Maximum) tr ms 20
Torque-Speed Curve Dimensions
FRMS 50W Torque-Speed Curve
0.1
00 500 1000
0.2
0.3
0.4
0.5
1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0.2
0
0.4
0.6
0.8
1.0
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
0
4.0
3.0
2.0
1.0
Unit:mm
7.3.1 50W
7.3 Middle inertia, Small capacity
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
MD99TE06-1704 AC Servo Motor & D2 Drive48 49
0.1
00 500 1000
0.2
0.3
0.4
0.5
1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0.2
0
0.4
0.6
0.8
1.0
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
0
4.0
3.0
2.0
1.0
1410 3 3
6.2M3*8DP
60
PCD Ø70
Ø50 0-0.025
4-Ø5.5
45°
45°
46.5
47.8 14
18.5 L=300mm
23.7L=300mm
Ø14
h6
30
37.5
121.5(154.5)
26
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
1410 3 3
6.2M3*8DP
2520
5
115
M4*15DP
Ø14h
6
30
37
26
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4104(134) 25
Ø8h
6
63
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
84(114) 25
Ø8h6
63
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
Parameter Symbol Unit FRMS10204
Drive Input Voltage V V AC220
Rated Power W W 100
Rated Torque Tc N.m 0.32
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.96
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.356
Back EMF Constant Ke Vrms / krpm 20.93
Resistance (line to line) R Ω 19
Inductance (line to line) L mH 23.78
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.051(0.055)
Weight (with brake) M kg 0.54(0.67)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.32
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 40
Release time (Maximum) tr ms 20
Torque-Speed Curve Dimensions
FRMS 100W Torque-Speed Curve
Unit:mm
7.3.2 100W
Optional Specification
Note:( )Include Brake Size Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
0.1
00 500 1000
0.2
0.3
0.4
0.5
1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0 500 1000 1500 2000 2500 3000 3500 4000 4500
0.2
0
0.4
0.6
0.8
1.0
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
0
4.0
3.0
2.0
1.0
1410 3 3
6.2M3*8DP
60
PCD Ø70
Ø50 0-0.025
4-Ø5.5
45°
45°
46.5
47.8 14
18.5 L=300mm
23.7L=300mm
Ø14
h6
30
37.5
121.5(154.5)
26
400W(Middle Inertia)
50W(Middle Inertia)
100W(Middle Inertia)
1410 3 3
6.2M3*8DP
2520
5
115
M4*15DP
Ø14h
6
30
37
26
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4104(134) 25
Ø8h
6
63
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
84(114) 25
Ø8h6
63
40
31 45°
45°
Ø30 -0.02-0.04
PCD45
2-Ø3.4
L=300mm
L=300mm
14
23.7
A47.8
18.5
B
Parameter Symbol Unit FRMS4B206
Drive Input Voltage V V AC220
Rated Power W W 400
Rated Torque Tc N.m 1.27
Rated Current Ic A(rms) 2.6
Peak Max. Torque Tp N.m 3.81
Peak Max. Current Ip A(rms) 7.8
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.48
Back EMF Constant Ke Vrms / krpm 29.61
Resistance (line to line) R Ω 4.13
Inductance (line to line) L mH 9.9
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.44(0.48)
Weight (with brake) M kg 1.31(1.86)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 1.3
Magnetizing current Ab A 0.32
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
7.3.3 400W
Torque-Speed Curve Dimensions
FRMS 400W Torque-Speed Curve
Unit:mm
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
With seal
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
MD99TE06-1704 AC Servo Motor & D2 Drive50 51
Parameter Symbol Unit FRMS75208
Drive Input Voltage V V AC220
Rated Power W W 750
Rated Torque Tc N.m 2.4
Rated Current Ic A(rms) 5.1
Peak Max. Torque Tp N.m 7.2
Peak Max. Current Ip A(rms) 15.3
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.47
Back EMF Constant Ke Vrms / krpm 28.4
Resistance (line to line) R Ω 0.813
Inductance (line to line) L mH 3.4
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 1.4(1.46)
Weight (with brake) M kg 2.66(3.32)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 2.4
Magnetizing current Ab A 0.358A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 45
Release time (Maximum) tr ms 10
Torque-Speed Curve Dimensions
FRMS 750W Torque-Speed Curve
D2-SNT05A
40140(176)
93
Ø19
h6
4-Ø6.6
PCD90
80
56.5
25
6
615
.5
20
23.7
14
L=300mm
L=300mm
Ø70-0.02-0.04
45°
45°
47.8
18.5
M5*10DP
40
93
Ø19
h6
4
註:( )內為含煞車器之尺寸
33
33
Ø45(選配規格)
帶鍵
含油封D2-DNN09B
Unit:mm
7.3.4 750W
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
With seal
Parameter Symbol Unit FRMM1K213
Drive Input Voltage V V AC220
Rated Power W W 1000
Rated Torque Tc N.m 4.77
Rated Current Ic A(rms) 5.1
Peak Max. Torque Tp N.m 14.3
Peak Max. Current Ip A(rms) 15.3
Rated Speed ωc rpm 2000
Max. Speed ωp rpm 3000
Torque Constant Kt N.m / Arms 0.94
Back EMF Constant Ke Vrms / krpm 54.7
Resistance (line to line) R Ω 0.81
Inductance (line to line) L mH 8
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 7.6(8.7)
Weight (with brake) M kg 5.4(6.2)
Motor Insulation Grade Class A (UL)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 10
Magnetizing current Ab A 0.56A
Brake input voltage V V DC24
Suction time (Maximum) to ms 80
Release time (Maximum) tr ms 30
Torque-Speed Curve Dimensions
FRMM 1000W Torque-Speed Curve
D2-SNT06A
PCD145
4-Ø9
130
45°
45°
(112
.85)
31
35
20
8 7
M6*20DP
Ø110 +0-0.035
Ø24
h6
55141.4(175.1)
312
註:( )內為含煞車器之尺寸
50
(選配規格)
帶鍵
D2-DNN10A
Unit:mm
7.4.1 1000W
7.4 Middle inertia, Middle capacity
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
MD99TE06-1704 AC Servo Motor & D2 Drive52 53
Parameter Symbol Unit FRMM2K213
Drive Input Voltage V V AC220
Rated Power W W 2000
Rated Torque Tc N.m 9.55
Rated Current Ic A(rms) 11
Peak Max. Torque Tp N.m 28.65
Peak Max. Current Ip A(rms) 33
Rated Speed ωc rpm 2000
Max. Speed ωp rpm 3000
Torque Constant Kt N.m / Arms 0.87
Back EMF Constant Ke Vrms / krpm 57.8
Resistance (line to line) R Ω 0.41
Inductance (line to line) L mH 3.7
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 13(14.1)
Weight (with brake) M kg 8(8.8)
Motor Insulation Grade Class A (under certification)
Motor protectTotal enclosed, self-cooled, IP65(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 10
Magnetizing current Ab A 0.56A
Brake input voltage V V DC24
Suction time to ms 80
Release time tr ms 30
Torque-Speed Curve Dimensions
FRMM 2000W Torque-Speed Curve
D2-SNT07A
40
30
20
10
0500 1000 1500 2000 2500 3000
PCD145
4-Ø9
130
45°
45°
(112
.85)
Ø110 +0-0.035
Ø24
h6
55171.4(205.1)
312
3135
20
8 7
M6*20DP
註:( )內為含煞車器之尺寸
50
(選配規格)
帶鍵
D2-DNN42A
Unit:mm
7.4.2 2000W
Optional Specification
Note:( )Include Brake Size
Torq
ue(N
-m)
Speed(rpm)
Peak work range
Continuous work range
With key
8. Cable and connector8.1 Cable
Small CapacityName Type Connect Description : 50W~750W
AC Servo MotorPower Cable
HVPS04AAB CN1
AC Servo Motor Power
and Brake Extension
Cable
HVPS06AABCN1CN2
AC Servo MotorEncoder Cable(13bit incremental)
HVE13IABB
CN7AC Servo MotorEncoder Cable(17bit incremental)
HVE17IABB
AC Servo MotorEncoder Cable
(17bit absolute)
HVE17AABB
AMP-172159-1
AMP-172160-1
AMP-172161-1
AMP-172161-9
6
8
3
2
14
59
7
6
5
3
2
14
3
2
1
4
6
8
3
2
14
59
7
6
8
3
2
14
59
7
B+B-
3M 36310 3M 36210
3M 36310 3M 36210
3M 363103M 36210
AMP 1-172161-9
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time during application.
MD99TE06-1704 AC Servo Motor & D2 Drive54 55
Middle Capacity-1000WName Type Connect Description:1000W
AC Servo MotorPower Cable
HVPM04BAB Straight Connector
CN1
HVPM04CAB L-Type Connector
AC Servo Motor Power Cable
and Brake Cable
(Note1)
HVPM06BAB Straight Connector
CN1
HVPM06CAB L-Type Connector
AC Servo MotorEncoder Cable
(13bit Incremental)
HVE13IBBB Straight Connector
CN7
HVE13ICBB L-Type Connector
AC Servo MotorEncoder Cable
(17bit incremental)
HVE17IBBB Straight Connector
HVE17ICBB L-Type Connector
AC Servo MotorEncoder Cable
(17bit absolute)
HVE17ABBB Straight Connector
HVE17ACBB L-Type Connector
WPS3108A18-10S-R
WPS3106A18-10S-R
HVPM04BA
HVPM02BA
HVPM04CA
HVPM02CA
WPS3106A18-1S-R
WPS3108A18-1S-R
WPS3106A18-1S-R
WPS3108A18-1S-R
WPS3106A18-10S-R
WPS3106A14S-7S-R
WPS3108A18-10S-R
WPS3108A14S-7S-R
WPS3108A18-1S-R
WPS3106A18-1S-R
18-1S
18-1S
18-1S
18-1S
18-1S
18-1S
A
B C
D
3M 363103M 36210
3M 363103M 36210
3M 363103M 36210
3M 363103M 36210
3M 363103M 36210
3M 363103M 36210
A
B C
D
A
A
A
A
A
AB
A
AB
CD
AB
CD
J EF
GH
I
JE
F
GH
I
AB
CD
JE
F
GH
I
B
CD
JE
F
GHI
CD J
I
EF
GH
B
CD
JE
F
GH
I
B
B
B
B
C
C
C
C
D
D
Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
WPS3106A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3106A18-1S-R
18-1S
18-1S
18-1S
18-1S
A
B C
D
A
B C
D
A
A
A
A
A
AB
AB
CD
JE
F
GH
I
AB
CD
JE
F
GH
I
CD J
I
EF
GH
B
CD
JE
F
GH
I
B
B
B
B
C
C
C
C
D
D
WPS3108A18-10S-R
WPS3106A18-10S-R
HVPM04BB
HVPM02BA
HVPM04CB
HVPM02CA
WPS3106A18-10S-R
WPS3106A14S-7S-R
WPS3108A18-10S-R
WPS3108A14S-7S-R
3M 36310 3M 36210
3M 36310 3M 36210
3M 36310 3M 36210
3M 36310 3M 36210
Middle Capacity-2000WName Type Connect Description:2000W
AC Servo MotorPower Cable
HVPM04BBB Straight Connector
CN1
HVPM04CBB L-Type Connector
AC Servo Motor Power Cable
and Brake Cable
(Note1)
HVPM06BBB Straight Connector
CN1
HVPM06CBB L-Type Connector
AC Servo MotorEncoder Cable
(17bit incremental)
HVE17IBBB Straight Connector
CN7
HVE17ICBB L-Type Connector
AC Servo MotorEncoder Cable
(17bit absolute)
HVE17ABBB Straight Connector
HVE17ACBB L-Type Connector
HE00817DR300(3m)
Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
AC Servo Dual loop Encoder CableSpecification:HE00817DR300(3m)
MD99TE06-1704 AC Servo Motor & D2 Drive56 57
Communication and Interface CableName Type Connect
Mini USB Cable
051700800366 CN3
HE00834S0800(0.3m)
CN4 / CN5
HE00834S0900(1m)
HE00834S1000(2m)
HE00834S1100(3m)
Interface Cable
HE00815AC200 CN6
IO Extension Cable
HE00834S1200(3m) CN6
LMACK02D815AC2A3
50
26
25
1
Mini USBUSB A type(2m)
1015
0 3
M
D2-DNN25A
D2-DNN26A
LMACK02D815AC2A3
50
26
25
1
Mini USBUSB A type(2m)
1015
0 3
M
D2-DNN25A
D2-DNN26A
LMACK02D815AC2A3
50
26
25
1
Mini USBUSB A type(2m)
1015
0 3
M
D2-DNN25A
D2-DNN26A
LMACK02D815AC2A3
50
26
25
1
Mini USBUSB A type(2m)
1015
0 3
M
D2-DNN25A
D2-DNN26A
D2 Modbus Communication Cable(only for fram A,B,C)
Specification:HE00834S0800(0.3m)、HE00834S0900(1m)、 HE00834S1000(2m)、HE00834S1100(3m)
D2 Drive Extenion IO CableSpecification:HE00834S1200(3m)
D2-DNN29A D2-DNN30A
Motor Power Connector Small Capacity Series / 50W~750W
SignalAMP-172167-1
(without brake)AMP-172168-1
(with brake)
U 3 3
V 2 2
W 1 1
GND 4 4
B+ -- 5
B- -- 6
Connect Pins Position Definition
(without brake) (with brake)
8.2 Connector
Small Capacity Series50W~750W
Middle Capacity Series1000W/2000W
DD22--DDNNNN2277AA
DD22--DDNNNN2288AA
馬達電源端接頭
煞車電源端接頭
編碼器端接頭
馬達電源端接頭(含煞車)
編碼器端接頭
Motor power cable connector
Brake power connector
Encoder connector
DD22--DDNNNN2277AA
DD22--DDNNNN2288AA
馬達電源端接頭
煞車電源端接頭
編碼器端接頭
馬達電源端接頭(含煞車)
編碼器端接頭
Motor power cable connector(includes brake)
Encoder connector
MD99TE06-1704 AC Servo Motor & D2 Drive58 59
Middle Capacity Series /1000W‧2000W
Signal WPS3102A18-10P-R WPS3102A14S-7P-R
U A --
V B --
W C --
GND D --
B+ -- A
B- -- C
Connect Pins Position Definition
WPS3102A18-10P-R WPS3102A14S-7P-R
By brake Type, two connectors must be used simultaneously
D2-DNN32A
D2-DNN33A
Encoder Connector
13bit Incremental / 1000W
13bit Incremental / 50W~750W
Function Signal AMP-172169-1
Power5V±5% 1
0V 2
Incremental Signal/
Hall signal
A+ U+ 3A- U- 4B+ V+ 5B- V- 6Z+ W+ 7Z- W- 8
Shielding Shielding 9
Function Signal WPS3102A18-1P-R
Power5V±5% A
0V B
Incremental Signal/
Hall signal
A+ U+ CA- U- DB+ V+ EB- V- FZ+ W+ GZ- W- H
Shielding Shielding I
I AH
I AH
G
F
JE
GF
E J D
CB
D
C
B
D2-DNN33A
D2-DNN34A
D2-DNN35B
D2-DNN36B
Function Signal AMP-1-172169-9
Power5V 1
0V 2
BatteryVB 5
GND 6
Serial Data Signal
SD+ 7
SD- 8
Shielding Shielding 9
Function Signal WPS3102A18-1P-R
Power5V A
0V B
BatteryVB E
GND F
Serial Data Signal
SD+ G
SD- H
Shielding Shielding I
17bit absolute / 50W~750W
17bit absolute / 1000W‧2000W
D2-DNN37B
D2-DNN38B
I AH
GF
E J D
CB
Function Signal AMP1-172169-9
Power5V±5% 1
0V 2
Serial Data Signal
SL+ 3SL- 4MA+ 7MA- 8
Shielding Shielding 9
Function Signal WPS3102A18-1P-R
Power5V±5% A
0V B
Serial Data Signal
SL+ CSL- DMA+ GMA- H
Shielding Shielding I
17bit incremental / 50W~750W
I AH
I AH
G
F
JE
GF
E J D
CB
D
C
B
D2-DNN33A
D2-DNN34A
D2-DNN35B
D2-DNN36B
17bit incremental / 1000W‧2000W
MD99TE06-1704 AC Servo Motor & D2 Drive60 61
9. HIWIN single axis robot and motor adaptor flange
AC Servo MotorHIWIN single axis robot
DriveKK40 KK50 KK60 KK80 KK86 KK100 KK130
50W FRLS052XXA4X F2 F2 F2 F3 F3 F1 - D2x-01xx-x-Ax
100W FRLS102XXA4X F2 F2 F2 F3 F3 - - D2x-01xx-x-Ax
200W FRLS202XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx
400W FRLS402XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx
750W FRMS752XX08X - - - - - F1 F2 D2x-10xx-x-Cx
D2-LPN02A
10. Servo Motor Selection GuideThe motor selection guide in this chapter is located on-line at http://www.hiwinmikro.tw/hiwincal.aspx
1. Definition of mechanism to be driven by the motor.Define detailed dimentions of individual mechanical components (ex: ball screw length, lead and pulley diameter)Typical servo mechanisms are listed as follows:[Ball screw mechanism][Belt mechanism][Rack and pinion mechanism][Reduction gear mechanism]
2. Definition of operating pattern (motion velocity profile).The operating pattern can be defined by the following parameters: acceleration/deceleration time, constant-velocity time, stop time, cycle time, travel distance.
3. Calculation of load inertia and motor inertia ratio.Calculate load inertia for each mechanical component. (Refer to “General inertia calculation method” described later.)Then, divide the calculated load inertia by the inertia of the selected motor then check the inertia ratio. Note that the ratio should less than 10, if the selected motor is less than 750W. If the power of selected motor is higher than 1000W, the ratio should less than 10.
4. Calculation of motor velocity.Calculate the motor velocity from the moving distance, acceleration/deceleration time and constant-velocity time.
5. Calculation of torque.Calculate the required motor torque from the load inertia, acceleration/deceleration time and constant-velocity time.
6. Calculation of motorSelect a motor that meets the above 3 to 5 requirements.
MD99TE06-1704 AC Servo Motor & D2 Drive62 63
10.1 Introduction of motor selection relevant parameters
Peak torque
Traveling torque, stop holding torque
Effective torque
Motor velocity
Load inertia and motor inertia ratio
Peak torque indicates the maximum torque that the motor requires during operation (mainly in acceleration and deceleration steps). The reference value is 80% or less of the maximum motor torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque indicates the torque that the motor requires for a long time. Stop holding torque indicates that the amount of torque required for a motor to remain in a fixed position.Traveling torque calculation formula for each mechanism.
Effective torque indicates a root-mean- square value of the total required for running and stopping the motor per unit time. The reference value is approximate 80% or less of the rated motor torque.
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value. When the motor operates at the maximum velocity, you must pay attention to the motor torque and temperature rise.
Inertia is like the force to retain the current moving condition. Inertia ration is calculated by dividing load inertia by rotor inertia. Generally, for motor with 750W or lower capacity, the inertia ratio should be “10” or less. For motor with 1000W or higher capacity, the inertia ratio should be “10” or less. If the system need quicker response, a lower inertia ratio is required.
WD
W
Bp
F
螺桿機構 皮帶機構
移動扭矩 移動扭矩
D2-DNT01AD2-DNT02A
List of symbol:W:Workpiece weight [kg] BP:Lead [m]D:Pulley diameter [m]F:External force [N]Beff: Mechanical efficiencyμ:Coefficient of frictiong: Acceleration of gravity 9.8[m/s2]
Ta: Acceleration torque [N-m] ta: Acceleration time [s]Tf: Traveling torque [N-m] tb: constant-velocity time [s]Td: Deceleration torque [N-m] td: Deceleration time [s]tc: Cycle time [s] (Run time + Stop time)
Traveling torqueTraveling torque
( ) ( )
10.2 General inertia calculation for various rigid objects of uniform composition
Shape J calculation formula Shape J calculation formula
Disk Separated rod
Solid cylinder Straight rod
Hollow cylinder Prism
Uniform rod
D
D
DDDD
d
DDDDDDDDDD
D
L/2L/2
ab
c
L
S
DD2-DNN37A D2-DNN41A
D2-DNN42A
D2-DNN38A
D2-DNN39A D2-DNN43A
D2-DNN40A
List of symbol:J : Inertia [kg-m2]M : Mass [kg]D : Outer diameter [m]d : Inner diameter [m]L : Length [m]a, b, c : Side length [m]S : Distance [m]
If mass (M [kg]) is unknown, calculate it with the following formula:Mass M[kg] = Density ρ [kg/m3] x Volume V[m3]Density of each material Iron ρ = 7.9 x 103 [kg/m3]Brass ρ = 8.5 x 103 [kg/m3]Aluminum ρ = 2.8 x 103 [kg/m3]
MD99TE06-1704 AC Servo Motor & D2 Drive64 65
10.3 Equivalent inertia calculation for mechanism
Mechanism J calculation formula
Ball screw
Belt(Conveyor)
Rack and pinion
Reduction gear
List of symbol:J : Inertia [kg-m2]JB:J of ball screwJP:J of pinionM:Mass [kg]Mr:Mass of rack [kg]Wb:Workpiece weight on belt [kg]Wr:Workpiece weight on rack [kg]P:LeadD:Drum diameter [m]n1:A rotational speed of a shaft [r/min]n2:A rotational speed of b shaft [r/min]
*Excluding drum J
Inertia on shaft “a”
Acceleration time
Deceleration time
Constant-velocity time
Cycle time
Stop time
Velocity
time
Travel distance (Shaded area)
Acceleration time
Deceleration time
Cycle time
Stop timeVelocity
time
10.4 Operating pattern (motion velocity profile)
Trapezoidal profile
Triangle profile
MD99TE06-1704 AC Servo Motor & D2 Drive66 67
10.5 Motor selection example - ballscrews mechanism
Workpiece weight W = 5 [kg]Ball screw length BL = 0.5 [m]Ball screw diameter BD = 0.02 [m]Ball screw lead BP = 0.02 [m]Ball screw efficiency Beff = 0.9Travel distance 0.3 [m]Coupling inertia JC = 10 x 10-6 [kg-m2]
Running pattern(velocity profile)
Ball screw weight
Acceleration time ta = 0.1 [s]Constant-velocity time tb = 0.8 [s]Deceleration time td = 0.1 [s]Cycle time tc = 2 [s]Travel distance 0.3[m]Stop time ts = 1.0 [s]
W
Bp
F
W
D
BW = × π ×BD
2
2× B L
= 7.9 × 103 × π × 0.022
2× 0.5
= 1.24 [kg]
( )
( )
Acceleration time
Deceleration time
Constant-velocity time
Cycle time
Stop time
Velocity
time
Travel distance (Shaded area)
Ball screw lead BP = 0.02 [m]
1002[rpm] is less than 3000[rpm] (rated velocity of Hiwin 200W Servo motor)
Load inertia
Provisional motor selection
Calculation of inertia ratio
Calculation of maximum velocity (Vmax)
Calculation of motor velocity (N [r/min])
Choose Hiwin 200W Servo motor:
The inertia ratio is less than 10.
12
× ta × V max + t b × Vmax + 12
× td × Vmax = Travel distance
12
× 0.1 × Vmax + 0.8 × Vmax + 12
× 0.1× Vmax = 0.3
Vmax = 0.334 [m/s]
N=Vmax
BP=
0.3340.02
= 16.7 =1002[ rpm[rps] ]
移動距離
JM = 0.17 ×10−4 [kg −m2]
Travel distance
JL = JC +J B +JW = JC + 18
BW × BD2 +
W ×B P2
4π2
= 0.00001+ 1.24 × 0.022
8+ × 0.022
4π2
= 1 3 ×1 0−4 [kg −m 2]1.226
5
JL
JM=
1.73 × 10 −4
0.17 × 10 −4= 10.2
1.226 7.21
MD99TE06-1704 AC Servo Motor & D2 Drive68 69
Traveling torque
Acceleration torque
Deceleration torque
Calculation of torque
Verification of maximum torque
Verification of effective torque
Evaluation
Ta = 0.163 [N-m] < 1.91 [N-m] (Maximum torque of Hiwin 200W Servo motor)
Judging from the inertia ratio calculated above, selection of 200W motor is preferable, although the torque margin is significantly large.
Tf = BP
2πBeff( µgW +F ) = 0.02
2π0.9(0 .1×9 .8 × + 0) = 0.035 [N−m ]5 0.017
Ta =(JL +J M)
ta+
=( × 10−4 + 0. ×
×
10−4 ) × 0.1
+
= 0 [N− m]
7
2πN60
2πx100260
Tf
1.226 0.017
0.163
×Td =
(J L+J M)td
−
=(1.73 × 10−4 + 0.14 ×10−4 ) ×
0.1− 0.035
= 0 [N −m ]
7
2πN60
2πx100260
Tf
1.226 0.017
0.129
Trms =Ta
2 × t a + T f2 × t b + T d
2 × t d
tc
=0.2312 × 0.1 + 0.0352 × 0.8 + 0.1612 × 0.1
2
= 0.067[N− m ]
0.048[N-m] < 0.64[N-m](Rated torque of Hiwin 200W Servo motor)
0.1632
0.048
0.0172 0.1292
Customer: Date:
Contact Person:
Title:Email:
Drive series D2T D2 Note:
AC Motor Series*
Low inertia: 50W 100W 200W 400W
Middle inertia: 50W 100W 400W
750W 1000W 2000W
Format: 13bit Incremental
17bit incremental
17bit absolute
Key* No Yes
Brake* No Yes
Seal* No Yes
AC input voltage(V) Single phase 220V Three phase 220V
Servo motor connecting wires*
Motor power (flexure resistance)Cable Length: 3M 5M 7M 10M
Encoder (flexure resistance)Cable Length: 3M 5M 7M 10M
Related accessory requirements*
Pulse Wire USB cable Single-phase filter Three-phase filter
Control mode* Position control Velocity control Torque control EtherCAT(CoE) Others
Match method
Slide/model no: Reducer/reduction ratio: Timing belt Gear rack Ball screw/guiding distance:
screw outer diameter:
Host PLC/manufacture: Axis card/manufacture:
model:model:
Special Need
Installation Horizontal Vertical
Speed requirement
Accelaration requirement
Weight requirement
The information below is to be filled out by HIWIN or authorized agents.
Recommended specifications:
Fields with * must be filled Salesperson:
11. Motor / Drive Requirements List
MD99TE06-1704 AC Servo Motor & D2 Drive70 71
12. Safety PrecautionsThank you for purchasing HIWIN’s AC servo motor. Installation and operation of the motor must be in accordance with the HIWIN manual. Before using the servo motor, please read these safety instructions and precautions carefully.
Unpacking instructions
Operation instructions
Safety instructions
Wiring instructions
1. Before using the servo motor, please read these safety instructions and precautions carefully. HIWIN is not responsible for any damage, accident, or injury caused by incorrect handling.
2. Examine the appearance of the motor for any unusual marks or damage from shipment. 3. Inspect the wires for damage.4. Do not disassemble the motor. Since the product design has been based on structure calculations,
computer simulations, and prototype testing, do not disassemble the product without the permission of HIWIN engineers.
5. Supervise children when handling this product.6. People with psychosomatic illness or insufficient experience should not handle this product,
unless under the direct supervision of managers or product narrators.* If any items are damaged or incorrect, please contact your distributor or HIWIN sales representative.
1. Higher than maximum specified current may cause demagnetization of magnetic components inside the motor.
2. The AC servo motor is designed to operate through a dedicated servo drive. Do not connect to a commercial power source (100/200V AC, 50/60 HZ). The motor will not operate correctly and may cause permanent damage.
3. The motor must be operated within its specified range.
1. The product can only be repaired by HIWIN engineers. Please send the product back to us if there is any unusual phenomenon.
2. Do not hold the motor by its wire harness or shaft. 3. Do not hit the motor or shaft. Shock can damage the encoder inside the motor.4. Do not apply loads to the motor shaft that are in excess of the specified value.5. Protect the motor and encoder from high electrical noise, vibration, and unusual temperatures. 6. Do not change the motor parts or disassemble the screws. HIWIN will not be responsible for any
damages, injuries, or accidents that may occur.
1. Ensure the specified power input value before using the product, and verify that the proper power supply is being used.
2. Before operation, please ensure that the motor, brake, and encoder are connected correctly. Incorrect wiring may cause abnormal motor operation or even cause permanent damage to the motor.
3. To avoid voltage coupling and electrical noise on the encoder, ensure adequate separation of the motor power wires and the encoder wires.
4. Ensure that the motor ground wire is connected to the ground terminal on the servo drive.5. Do not perform a dielectric voltage-withstand test on any encoder terminal. The test may cause
damage to the encoder.
Maintenance and Storage instructions
Motor International Standard
1. Do not store the product in an inflammable environment or with chemical agents.2. Store the product in a place without humidity, dust, harmful gases, or liquids.3. The motor shaft opening is neither waterproof nor oil-proof. Do not install the motor in an
environment where there is harmful gas, liquid, excessive moisture, or water vapor. 4. Do not store the servo motor where it will be subjected to vibration or shock in excess of the
specified limit.5. The storage and transportation temperature of this product: -20~+656. Clean:Wipe with Alcohol (70%)7. Before shipping, the motor shaft is coated with antirust oil to protect the motor shaft against rust
formation. However, the material of the motor shaft is not entirely rust-proof. When the motor storage time has exceeded six months, please inspect and examine the motor shaft and resupply with proper and sufficient antirust oil at least once every three months thereafter.
8. Product disposal:Follow the local laws and regulations for recycling.
A one year guarantee is provided from the date of delivery. For product damage caused by improper operation (Please refer to the notes and instructions in this operation manual). HIWIN will not be held responsible for replacing or maintaining the product as a result of any natural disasters that may occur during this period.
Warning:For the proper use of the HIWIN AC servo motor read these safety precautions carefully before installation, operation, and maintenance.
Warning:Do not touch when motor operating to avoid being scalded.
4. Attention should be given to ensure adequate cooling and ventilation of the motor during operation.
5. For long term use, the motor shaft should be resupplied with proper and sufficient oil during the period of operation.
6. If any abnormal odor, noise, smoke, temperature rises or vibration is detected, stop the motor immediately. Remove power from the servo drive and isolated the motor.
Please read “warning signs”. Turn power off before clean product. Read manual before use. If the product is used under overload condition shell temperature rises. Without manufacturer’s permission, please do not arbitrarily modify the device. It is difficult to ensure electromagnetic compatibility (EMC) problems do not occur in some
environments. Removal of damaged power cable fasteners, with care and with attention for power cable fasteners. Avoid impact on of shaft end and encoder. Products cannot be used in environment with flammable materials.
MEMO
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. For your protection; To avoid counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2. Actual products may be different from the specifications and photos in this catalog, The differences in appearances or specifications may be caused by, among other things, product improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade Act" and relevant regulations. Any export of restricted products should be approved by competent authorities in accordance with relevant laws, and shall not be used to manufacture or develop nuclear, biochemical, missile and other military weapons.
Publication Date:June 2008, first edition
Print Date:April 2017, 6th edition
AC Servo Motor & D2 Drive Technical Information
Copyright © HIWIN Mikrosystem Corp.
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HIWIN CHINASUZHOU, CHINAwww.hiwin.cninfo@hiwin.cn
Mega-Fabs Motion System, Ltd.HAIFA, ISRAELwww.mega-fabs.cominfo@mega-fabs.com
HIWIN GmbHOFFENBURG, GERMANYwww.hiwin.dewww.hiwin.euinfo@hiwin.de
HIWIN JAPANKOBE‧TOKYO‧NAGOYA‧NAGANO‧TOHOKU‧HOKURIKU‧HIROSHIMA‧KUMAMOTO‧FUKUOKA, JAPANwww.hiwin.co.jpinfo@hiwin.co.jp
HIWIN USACHICAGO‧SILICON VALLEY, U.S.A. www.hiwin.cominfo@hiwin.com
HIWIN SrlBRUGHERIO, ITALYwww.hiwin.itinfo@hiwin.it
©2017 FORM MD99TE06-1704(PRINTED IN TAIWAN)
The specifications in this catalog are subject to change without notification.
HIWIN MIKROSYSTEM CORP.No.6, Jingke Central Rd., Taichung Precision Machinery Park, Taichung 40852, TaiwanTel: +886-4-23550110Fax: +886-4-23550123www.hiwinmikro.twbusiness@hiwinmikro.tw
AC Servo Motor & D2 Drive